Yaskawa LEGEND-MC - Manual (Page 62)

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LEGEND-MC User’s Manual
Where X,Y,Z and W specify axes.
The usage “Description:” specifies the restrictions on allowable execution. “While Moving” states
whether or not the command is valid while the controller is performing a previously defined motion. “In a
program” states whether the command may be used as part of a user-defined program. “Command Line”
states whether the command may be used from the serial port.
“Can be Interrogated” states whether or not the command can be interrogated by using ? to return the
specified value. “Used as an Operand” states whether a command can be used to generate a value for
another command or variable (i.e. V=_TTX). “Default Format” defines the format of the value with
number of digits before and after the decimal point. Finally, “Default Value” defines the values the
instruction’s parameters will have after a Master Reset.
The following table defines terms found in the usage chart for each command:
SH W Servo Here, W only
SH ZW Servo Here, Z and W axes
SH ABFG Servo Here, A,B,F,G axes
Classification Meaning
All Axes When this command is executed in the master, it causes
the command to be broadcast to all slaves in the distrib-
uted control system. Example CN, Limit Switch Config-
uration.
No, Local These commands cannot be sent from a master to a slave
over Ethernet or are not involved with an Ethernet fea-
ture in any way.
QW packet The information contained in this command is obtained
from the slave update packet. This packet is updated at
the QW rate. This is also the second parameter of the HC
command.
Specific Axis If Ethernet is configured for Distributed Control, when a
slave axis is specified in a command such as
BLW=-5000, the command is relayed to the slave once,
and the slave acknowledges once.
Use SA This command is possible over Ethernet, but only when
encapsulated inside an SA command to the appropriate
handle. Generally commands that have this listing are
not intended to be used with distributed control, but will
work normally when received by the slave.